JP6153385B2 - 校正補助装置、湾曲システム及び校正方法 - Google Patents

校正補助装置、湾曲システム及び校正方法 Download PDF

Info

Publication number
JP6153385B2
JP6153385B2 JP2013113205A JP2013113205A JP6153385B2 JP 6153385 B2 JP6153385 B2 JP 6153385B2 JP 2013113205 A JP2013113205 A JP 2013113205A JP 2013113205 A JP2013113205 A JP 2013113205A JP 6153385 B2 JP6153385 B2 JP 6153385B2
Authority
JP
Japan
Prior art keywords
calibrator
calibration
flexible
detection unit
curvature
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2013113205A
Other languages
English (en)
Japanese (ja)
Other versions
JP2014230658A (ja
Inventor
憲 佐藤
憲 佐藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to JP2013113205A priority Critical patent/JP6153385B2/ja
Priority to PCT/JP2014/062957 priority patent/WO2014192553A1/ja
Priority to CN201480030509.9A priority patent/CN105283115B/zh
Priority to EP14804701.2A priority patent/EP3005931A4/en
Publication of JP2014230658A publication Critical patent/JP2014230658A/ja
Priority to US14/953,057 priority patent/US20160073858A1/en
Application granted granted Critical
Publication of JP6153385B2 publication Critical patent/JP6153385B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
    • A61B2560/0228—Operational features of calibration, e.g. protocols for calibrating sensors using calibration standards
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
JP2013113205A 2013-05-29 2013-05-29 校正補助装置、湾曲システム及び校正方法 Active JP6153385B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2013113205A JP6153385B2 (ja) 2013-05-29 2013-05-29 校正補助装置、湾曲システム及び校正方法
PCT/JP2014/062957 WO2014192553A1 (ja) 2013-05-29 2014-05-15 校正補助装置、湾曲システム及び校正方法
CN201480030509.9A CN105283115B (zh) 2013-05-29 2014-05-15 校正辅助装置、弯曲系统及校正方法
EP14804701.2A EP3005931A4 (en) 2013-05-29 2014-05-15 Calibration assisting device, bending system and calibration method
US14/953,057 US20160073858A1 (en) 2013-05-29 2015-11-27 Calibration assist apparatus, curving system, and calibration method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013113205A JP6153385B2 (ja) 2013-05-29 2013-05-29 校正補助装置、湾曲システム及び校正方法

Publications (2)

Publication Number Publication Date
JP2014230658A JP2014230658A (ja) 2014-12-11
JP6153385B2 true JP6153385B2 (ja) 2017-06-28

Family

ID=51988588

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013113205A Active JP6153385B2 (ja) 2013-05-29 2013-05-29 校正補助装置、湾曲システム及び校正方法

Country Status (5)

Country Link
US (1) US20160073858A1 (zh)
EP (1) EP3005931A4 (zh)
JP (1) JP6153385B2 (zh)
CN (1) CN105283115B (zh)
WO (1) WO2014192553A1 (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3056145B1 (de) * 2014-12-18 2023-12-06 Karl Storz SE & Co. KG Verfahren zur bestimmung einer position und einer orientierung eines endoskops in einem hohlraum
WO2018116375A1 (ja) * 2016-12-20 2018-06-28 オリンパス株式会社 湾曲情報導出装置、この装置を含む内視鏡システム、及び湾曲情報導出方法
US11602396B2 (en) 2017-03-30 2023-03-14 Koninklijke Philips N.V. OSS foreshortening detection systems, controllers and methods
KR102391591B1 (ko) * 2017-05-16 2022-04-27 박연호 가요성 연성부 형태 추정 장치 및 이를 포함하는 내시경 시스템
CN108398114B (zh) * 2018-02-12 2020-09-18 武汉华星光电半导体显示技术有限公司 曲面盖板边缘曲率测量装置、测量系统及测量方法
US20210378543A1 (en) * 2020-02-13 2021-12-09 Altek Biotechnology Corporation Endoscopy system and method of reconstructing three-dimensional structure
CN112294236B (zh) * 2020-10-14 2022-03-25 北京大学 内窥镜前端弯曲部形态检测系统及其检测方法

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH648200A5 (it) * 1981-11-09 1985-03-15 Weissenfluh Hawe Neos Matrice universale per effettuare otturazioni a scopo.
US6266551B1 (en) * 1996-02-15 2001-07-24 Biosense, Inc. Catheter calibration and usage monitoring system
WO1999033392A1 (de) * 1997-12-29 1999-07-08 Falko Skrabal Verformbare sonde mit automatischer detektion der sondenlage
EP0947221A3 (en) * 1998-03-31 2000-04-26 Terumo Kabushiki Kaisha Laser irradiation device
JP2003070718A (ja) 2001-08-31 2003-03-11 Pentax Corp 可撓性内視鏡装置
US6846286B2 (en) * 2001-05-22 2005-01-25 Pentax Corporation Endoscope system
JP4197877B2 (ja) * 2002-02-25 2008-12-17 オリンパス株式会社 電動湾曲内視鏡装置及びキャリブレーション方法
US20040176683A1 (en) * 2003-03-07 2004-09-09 Katherine Whitin Method and apparatus for tracking insertion depth
DE60320254T2 (de) * 2003-09-22 2009-05-14 Xitact S.A. Optische Vorrichtung zur Bestimmung der longitudinalen Position und des Drehwinkels eines rotationssymmetrischen Körpers
US7134992B2 (en) * 2004-01-09 2006-11-14 Karl Storz Development Corp. Gravity referenced endoscopic image orientation
EP1804659A4 (en) * 2004-10-19 2010-11-03 Navotek Medical Ltd LOCALIZATION OF A CATHETER TIP ON A TRACKWAY
US7956887B2 (en) * 2005-02-17 2011-06-07 Karl Storz Imaging, Inc. Image orienting coupling assembly
BRPI0609553A2 (pt) * 2005-03-30 2010-04-13 Gcoder Systems Ab dispositivo de controle
JP2007044410A (ja) * 2005-08-12 2007-02-22 Pentax Corp 内視鏡挿入形状検出ユニット
US20070078386A1 (en) * 2005-08-30 2007-04-05 Cytyc Corporation Movable anchoring catheter
WO2008086615A1 (en) * 2007-01-19 2008-07-24 Sunnybrook Health Sciences Centre Medical imaging probe with rotary encoder
EP2626030A3 (en) * 2007-08-14 2017-03-08 Koninklijke Philips N.V. Robotic instrument systems and methods utilizing optical fiber sensors
JP5107065B2 (ja) * 2008-01-15 2012-12-26 オリンパスメディカルシステムズ株式会社 内径測定具
US20100069716A1 (en) * 2008-09-12 2010-03-18 Yem Chin Flexible guide conduit
EP2351509A4 (en) * 2008-10-28 2018-01-17 Olympus Corporation Medical device
NL2002622C2 (nl) * 2009-03-13 2010-09-16 Ez Blocker B V Bronchoscopisch verdeelstuk.
JP4704517B2 (ja) * 2009-06-23 2011-06-15 オリンパスメディカルシステムズ株式会社 医療システム
US8183520B2 (en) * 2009-11-13 2012-05-22 Intuitive Surgical Operations, Inc. Optical fiber shape sensor calibration
CN103607948A (zh) * 2011-01-27 2014-02-26 皇家飞利浦电子股份有限公司 用于临床使用期间的光学形状感测校准的模板
US20120253123A1 (en) * 2011-03-29 2012-10-04 Terumo Kabushiki Kaisha Otorhinolaryngological treatment device and method
US20130030363A1 (en) * 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
CN104105438B (zh) * 2012-01-31 2017-06-30 奥林巴斯株式会社 插入部检测装置及插入部检测系统
US8718419B2 (en) * 2012-08-15 2014-05-06 Siemens Energy, Inc. Frame foot loading measurement system using fiber optic sensing technique

Also Published As

Publication number Publication date
CN105283115A (zh) 2016-01-27
US20160073858A1 (en) 2016-03-17
EP3005931A1 (en) 2016-04-13
WO2014192553A1 (ja) 2014-12-04
EP3005931A4 (en) 2017-01-25
JP2014230658A (ja) 2014-12-11
CN105283115B (zh) 2018-09-18

Similar Documents

Publication Publication Date Title
JP6153385B2 (ja) 校正補助装置、湾曲システム及び校正方法
JP5766940B2 (ja) 管状挿入システム
JP6153414B2 (ja) 挿入システム及び形状センサの形状検出特性を調整する方法
US8631713B2 (en) Device for measuring compressive force of flexible linear body
JP5259340B2 (ja) 医療機器
JP4759654B2 (ja) 医療機器
JP2015181643A (ja) 湾曲形状推定システム、管状挿入システム、及び、湾曲部材の湾曲形状推定方法
JP2010522573A5 (ja) 光学的位置測定ならびに剛性または半可撓性の針の標的への誘導のためのシステム
EP2957212A1 (en) Relative position detection system for tube-like device, and endoscope device
EP2992809A1 (en) Endoscope system
JP2007130174A (ja) 内視鏡挿入部形状把握システム
US10502693B2 (en) Insertion/removal apparatus, insertion section direct manipulation estimation method and storage medium which non-transitory stores insertion section direct manipulation estimation program
JP4897121B2 (ja) 内視鏡形状検出装置及び内視鏡の挿入部の形状検出方法
JP6150579B2 (ja) 挿入装置
JP4624837B2 (ja) 内視鏡形状検出装置
WO2016136353A1 (ja) 内視鏡システム及び内視鏡較正方法
KR101063804B1 (ko) 카데터 위치 표시기
US11503981B2 (en) Flexible tube insertion apparatus and flexible tube insertion method
JP5379454B2 (ja) 医療用観察装置及び医療用観察システム
KR101063803B1 (ko) 카데터 위치 표시기
JP6845836B2 (ja) 配管経路の測定方法および配管経路測定システム
JPWO2017175320A1 (ja) 医療用マニピュレータシステムおよびマニピュレータの湾曲形状推定方法
JP2017213316A (ja) コイルユニット、医療器具

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160517

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20170523

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20170530

R151 Written notification of patent or utility model registration

Ref document number: 6153385

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250